Added code for creating the H-bridge function

src/opalib_pid_voltage.c

@@ -92,6 +92,7 @@ float32_t Kw_2 = 0.000143;
 static float32_t pwm_duty_cycle = 0.1; 		// PWM initialization duty cycle value
 static float32_t pwm_duty_cycle_2 = 0.1; 		// PWM initialization duty cycle value
 static uint16_t pwm_pulse_width;
+static uint16_t pwm_reverse_pulse_width;
 static uint16_t pwm_period, pwm_phase_shift, pwm_low_pulse_width, pwm_high_pulse_width;
 
 /////
@@ -362,6 +363,46 @@ void opalib_pid_voltage_pwm_update(float32_t duty_cycle)
 	}
 }
 
+/**
+ * This function transfer the calculated PWM value to the 
+ * HRTIM peripheral and make sure it is between saturation 
+ * bounds
+ */
+
+void opalib_pid_voltage_hbridge_pwm_update(float32_t duty_cycle)
+{
+
+	pwm_duty_cycle = duty_cycle;
+	
+	// TESTING PWM VALUE TO AVOID OVERFLOW AND PWM UPDATE//
+	if (pwm_duty_cycle > HIGH_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
+	{
+		pwm_duty_cycle = HIGH_DUTY;
+		pwm_pulse_width = pwm_high_pulse_width;
+		pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
+		leg_set(TIMA, pwm_pulse_width, 0);
+		leg_set(TIMB, pwm_reverse_pulse_width, pwm_period*pwm_duty_cycle);
+	}
+
+	else if (pwm_duty_cycle < LOW_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
+	{
+		pwm_duty_cycle = LOW_DUTY;
+		pwm_pulse_width = pwm_low_pulse_width;
+		pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
+		leg_set(TIMA, pwm_pulse_width, 0);
+		leg_set(TIMB, pwm_reverse_pulse_width, pwm_period*pwm_duty_cycle);
+	}
+
+	else
+	{
+		pwm_pulse_width = (pwm_duty_cycle * pwm_period);
+		pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
+		leg_set(TIMA, pwm_pulse_width, 0);
+		leg_set(TIMB, pwm_reverse_pulse_width, pwm_period*pwm_duty_cycle);
+	}
+}
+
+
 /**
  * This function transfer the calculated PWM value of leg_1 to the 
  * HRTIM peripheral and make sure it is between saturation 

src/opalib_pid_voltage.h

@@ -158,6 +158,15 @@ float32_t opalib_pid_voltage_pid_2_calculation(float32_t voltage_reference, floa
 
 void opalib_pid_voltage_pwm_update(float32_t duty_cycle);
 
+/**
+ * @brief     This function transfer the calculated PWM value to the 
+ * HRTIM peripheral and make sure it is between saturation 
+ * bounds with a complementary approach to the duty cycles.
+ * 
+ * @param[in] duty_cycle    floating point duty cycle comprised between 0 and 1.
+ */
+void opalib_pid_voltage_hbridge_pwm_update(float32_t duty_cycle);
+
 /**
  * @brief     This function transfer the calculated PWM value of leg_1 to the 
  * HRTIM peripheral and make sure it is between saturation